cmake_minimum_required(VERSION 3.8)
project(dis_cal)

if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
  add_compile_options(-Wall -Wextra -Wpedantic)
endif()

# find dependencies
find_package(ament_cmake REQUIRED)
find_package(rclcpp REQUIRED)
find_package(sensor_msgs REQUIRED)
find_package(std_msgs REQUIRED)

if(BUILD_TESTING)
  find_package(ament_lint_auto REQUIRED)
  # the following line skips the linter which checks for copyrights
  # comment the line when a copyright and license is added to all source files
  set(ament_cmake_copyright_FOUND TRUE)
  # the following line skips cpplint (only works in a git repo)
  # comment the line when this package is in a git repo and when
  # a copyright and license is added to all source files
  set(ament_cmake_cpplint_FOUND TRUE)
  ament_lint_auto_find_test_dependencies()
endif()

add_executable(dis_ang_cal 
  src/dis_ang_cal.cpp
  # 添加其他函数库的源文件路径
  src/tar_po/cor_cal.cpp
  src/tar_po/tar_po_initialize.cpp
  src/tar_po/tar_po.cpp
)
ament_target_dependencies(dis_ang_cal rclcpp std_msgs sensor_msgs)

# 设置包含目录
target_include_directories(dis_ang_cal PUBLIC
  ${PROJECT_SOURCE_DIR}/include # 包含整个include目录
  ${PROJECT_SOURCE_DIR}/src/tar_po
)

if(BUILD_TESTING)
  find_package(ament_lint_auto REQUIRED)
  set(ament_cmake_copyright_FOUND TRUE)
  set(ament_cmake_cpplint_FOUND TRUE)
  ament_lint_auto_find_test_dependencies()
endif()

ament_package()

install(TARGETS
  dis_ang_cal
  DESTINATION lib/${PROJECT_NAME}
)